Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code.

(as usual, work-in-progress)

examples/SharedMemory/PhysicsClientExample.cpp

@@ -0,0 +1,173 @@
+
+#include "PhysicsClientExample.h"
+
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+
+#include "SharedMemoryCommon.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+#include "PhysicsClient.h"
+#include "SharedMemoryCommands.h"
+
+class PhysicsClientExample : public SharedMemoryCommon
+{
+protected:
+	PhysicsClientSharedMemory	m_physicsClient;
+
+	
+	bool m_wantsTermination;
+    btAlignedObjectArray<int> m_userCommandRequests;
+
+	void	createButton(const char* name, int id, bool isTrigger );
+
+public:
+    
+	PhysicsClientExample(GUIHelperInterface* helper);
+	virtual ~PhysicsClientExample();
+    
+	virtual void	initPhysics();
+    
+	virtual void	stepSimulation(float deltaTime);
+    
+	virtual void resetCamera()
+	{
+		float dist = 1;
+		float pitch = 50;
+		float yaw = 35;
+		float targetPos[3]={-3,2.8,-2.5};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+    
+    virtual bool wantsTermination()
+    {
+        return m_wantsTermination;
+    }
+	void enqueueCommand(int command);
+	
+};
+
+
+void MyCallback(int buttonId, bool buttonState, void* userPtr)
+{
+	PhysicsClientExample* cl = (PhysicsClientExample*) userPtr;
+	switch (buttonId)
+	{
+	case  CMD_LOAD_URDF:
+	case CMD_CREATE_BOX_COLLISION_SHAPE:
+	case CMD_REQUEST_ACTUAL_STATE:
+	case CMD_STEP_FORWARD_SIMULATION:
+	case CMD_SHUTDOWN:
+    case CMD_SEND_DESIRED_STATE:
+	case CMD_SEND_BULLET_DATA_STREAM:
+		{
+			cl->enqueueCommand(buttonId);
+			break;
+		}
+
+	default:
+		{
+			b3Error("Unknown buttonId");
+			btAssert(0);
+		}
+	};
+}
+
+
+void PhysicsClientExample::enqueueCommand(int command)
+{
+	m_userCommandRequests.push_back(command);
+	b3Printf("User put command request %d on queue (queue length = %d)\n",command, m_userCommandRequests.size());
+}
+
+
+PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
+:SharedMemoryCommon(helper),
+m_wantsTermination(false)
+{
+	b3Printf("Started PhysicsClientExample\n");
+}
+
+PhysicsClientExample::~PhysicsClientExample()
+{
+    b3Printf("~PhysicsClientExample\n");
+}
+
+void	PhysicsClientExample::createButton(const char* name, int buttonId, bool isTrigger )
+{
+	ButtonParams button(name,buttonId,  isTrigger);
+	button.m_callback = MyCallback;
+	button.m_userPointer = this;
+	m_guiHelper->getParameterInterface()->registerButtonParameter(button);
+}
+void	PhysicsClientExample::initPhysics()
+{
+	if (m_guiHelper && m_guiHelper->getParameterInterface())
+	{
+		bool isTrigger = false;
+		
+		createButton("Load URDF",CMD_LOAD_URDF,  isTrigger);
+		createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
+		createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM,  isTrigger);
+		createButton("Get State",CMD_REQUEST_ACTUAL_STATE,  isTrigger);
+		createButton("Send Desired State",CMD_SEND_DESIRED_STATE,  isTrigger);
+		createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
+		
+	} else
+	{
+		m_userCommandRequests.push_back(CMD_LOAD_URDF);
+		m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
+		m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
+		m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
+		//m_userCommandRequests.push_back(CMD_SET_JOINT_FEEDBACK);
+		m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
+		//m_userCommandRequests.push_back(CMD_CREATE_RIGID_BODY);
+		m_userCommandRequests.push_back(CMD_STEP_FORWARD_SIMULATION);
+		m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
+		m_userCommandRequests.push_back(CMD_SHUTDOWN);
+		
+	}
+
+	if (!m_physicsClient.connect())
+	{
+		b3Warning("Cannot eonnect to physics client");
+	}
+
+}
+
+
+void	PhysicsClientExample::stepSimulation(float deltaTime)
+{
+    
+	if (m_physicsClient.isConnected())
+    {
+		m_physicsClient.processServerStatus();
+    
+		if (m_physicsClient.canSubmitCommand())
+		{
+			if (m_userCommandRequests.size())
+			{
+				b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
+				int command = m_userCommandRequests[0];
+
+				//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
+				for (int i=1;i<m_userCommandRequests.size();i++)
+				{
+					m_userCommandRequests[i-1] = m_userCommandRequests[i];
+				}
+
+				m_userCommandRequests.pop_back();
+				SharedMemoryCommand tmp;
+				tmp.m_type = command;
+				m_physicsClient.submitClientCommand(tmp);
+			}
+		}
+	}
+	
+
+}
+
+
+class CommonExampleInterface*    PhysicsClientCreateFunc(struct CommonExampleOptions& options)
+{
+    return new PhysicsClientExample(options.m_guiHelper);
+}